Yaskawa Minertia brushed DC servo specs

Hello,
I just bought 3 Yaskawa DC brushed servos off Ebay. I'm trying to
get an idea of what kind of volts/amps they will require to run at
their maximum performance using Gecko G320's. Yaskawa's website has
no mention of these small DC motors. All that I know is from the
sellers description;

Yaskawa Minertia UGRMEM-R02SAK0E

56W, Voltage Constant 6VDC,/1000RPM

1.06 n-M PEAK torque, , 8.8A Peak

.212 n-M constant torque

3000Rmp operating, 4000Peak

straight shaft w/ tapped center hole

Encoder Spec UTOPI-200 shown above.

We believe but are NOT positive that the 200=2048PPR.....


Going by the voltage constant and rated RPM it 'appears' that they
want 18V (3000RPM) - 24V (4000RPM). Geckos require a minimum of 24V
don't they? Will 24V drive these motors to hard?

What about current, 8.8A peak, but what would I set the current limit
to on the G320's?

One final question, being a 200 count encoder, assuming TTL, wouldn't
that be 200 X 4 = 800 ppr as the final resolution rather than 2048?
I always thought you multiplied by 4.

Thanks for any help.